We only have one ethernet port to use EtherCat or TCP/IP.

This change allows the type of stack to be selected during initialization. It is only available on the V5 hardware.

There are two types of Fp and Integer controls. There is one type that requires a Record Object for reading, writing and formatting values and one that uses supplied functions.

The List control only had the type that relies on a Record Object. A type that relies on supplied function has now been created.

The EtherCat options are only available on V5 hardware but almost all of the code is present in both V4 and V5.

Two Model options have been added, EtherCAT CL and EtherCAT MA.

Both options are required because EtherCAT consumes the single Ethernet Port that is available on the hardware.

EtherCAT CL is only available on the Closed Loop to force the use of the EtherCAT protocol to control the Servo Drives.

EtherCAT MA enables the support for Multi-Axis servos that use EtherCAT SoE, Servo (SERCOS) over EtherCAT protocol.

When EtherCAT MA is selected the Multi-Axis (X) option is also automatically enabled.

SERCOS and EtherCAT are mutually exclusive. If EtherCAT is enabled, SERCOS is disabled and disallowed.

The use and configuration of EtherCAT is nearly identical to SERCOS with several notable exceptions; 1.) Editing of the Drive Parameters from the XL is not supported.
2.) The drives have a State Progression rather than a Phase Progression.

Other than the above exceptions, working with the EtherCAT drives will look and feel identical to the SERCOS drives. In the XL Software there will be options for EtherCAT SoE, instead of, or in addition to, SEROCS.

These are the States:;

1. Init - In this state the prescense of drives is performed. If the correct number of drives has been found, the next state will be attempted.
2. Pre-Operational - In this state, the drives are configured for their mode of operation. If a drive passes its transition test it will go to the next state.
3. Safe-Operation - Cyclical data begins being transfered back and forth from the drive. If all drives are communicating cyclical data properly they will transition to the next state.
4. Operational - Cyclical data is still being transfered but now the drives are capable of being enabled and are fully operational.

A Tool Axis may only be used by one press. Otherwise, the presses would fight over control of the axis. However, what actually happened is that each Tool Axis is assigned a Press ID that it uses to find its closest target in the queue. Since there can only be one press assigned, only one press would control the axis and all other targets would be ignored.

This has always been a limitation but there was no test to enforce it. This has now been resolved.

When entering the run mode, each of the Tool Axes will be tested to see if more than one press is configured to use it. If the condition is detected, an Error message will be displayed and the line will drop out of run.

In the Windows PC Simulation, Local SERCOS Axes were not being allowed to be enabled due to some code added in SCN 4853. This has been resolved.

The following changes have been made to the Window colors for Help, Error, Warning and Operator message windows. Prior to this change, all messages had the same window color scheme which created some confusion. Help messages were mistakenly interpreted as error messages.

Help messages will have a Blue Window body. Warning messages will have a Yellow Window body. Error messages - No change. Operator messages will have a Black header and Gray window body.

Prior to this change, the only access to the Switch setting, SERCOS setting and future EtherCat settings was by pressing the Setup Key at the end of the AMS logo banner screen during a power up.

This change adds an F5-Switch and Config. option to the system info screen. This will provide access to the settings without a power cycle. The controller does have to reset however. After the reset and the banner logo, the controller will go directly to the settings screens without requiring any additional key presses.

For the XL200 Hump and Brake, the request for an output that turns on at a programable distance from the cut point was made.

A setup, called Cut Window Distance was added. It defaults to zero, which disables the feature. A non-zero value enables it. It is only active for the Open Loop XL200 Hump and Brake. It also must be configured for feed to stop operation.

The output is only active while in the Run Mode. This is due to the queue behavior on a Shear Only controller. The Queue, and hence the shear target, are only present while in Run Mode. The output should only be evaluated while in Run, once the motion outputs have been activated, so that the shear target is known to exist and has been processed.